scholarly journals A LASER-SLAM ALGORITHM FOR INDOOR MOBILE MAPPING

2016 ◽  
Vol XLI-B4 ◽  
pp. 351-355
Author(s):  
Wenjun Zhang ◽  
Qiao Zhang ◽  
Kai Sun ◽  
Sheng Guo
Keyword(s):  
Indoor Environment ◽  
Large Scale ◽  
Real Data ◽  
Tree Structure ◽  
Experimental Results ◽  
Laser Sensor ◽  
Mobile Mapping ◽  
Shopping Centres ◽  
Graph Optimization ◽  
Slam Algorithm

A novel Laser-SLAM algorithm is presented for real indoor environment mobile mapping. SLAM algorithm can be divided into two classes, Bayes filter-based and graph optimization-based. The former is often difficult to guarantee consistency and accuracy in largescale environment mapping because of the accumulative error during incremental mapping. Graph optimization-based SLAM method often assume predetermined landmarks, which is difficult to be got in unknown environment mapping. And there most likely has large difference between the optimize result and the real data, because the constraints are too few. This paper designed a kind of sub-map method, which could map more accurately without predetermined landmarks and avoid the already-drawn map impact on agent’s location. The tree structure of sub-map can be indexed quickly and reduce the amount of memory consuming when mapping. The algorithm combined Bayes-based and graph optimization-based SLAM algorithm. It created virtual landmarks automatically by associating data of sub-maps for graph optimization. Then graph optimization guaranteed consistency and accuracy in large-scale environment mapping and improved the reasonability and reliability of the optimize results. Experimental results are presented with a laser sensor (UTM 30LX) in official buildings and shopping centres, which prove that the proposed algorithm can obtain 2D maps within 10cm precision in indoor environment range from several hundreds to 12000 square meter.

scholarly journals A LASER-SLAM ALGORITHM FOR INDOOR MOBILE MAPPING

2016 ◽  
Vol XLI-B4 ◽  
pp. 351-355
Author(s):  
Wenjun Zhang ◽  
Qiao Zhang ◽  
Kai Sun ◽  
Sheng Guo
Keyword(s):  
Indoor Environment ◽  
Large Scale ◽  
Real Data ◽  
Tree Structure ◽  
Experimental Results ◽  
Laser Sensor ◽  
Mobile Mapping ◽  
Shopping Centres ◽  
Graph Optimization ◽  
Slam Algorithm

A novel Laser-SLAM algorithm is presented for real indoor environment mobile mapping. SLAM algorithm can be divided into two classes, Bayes filter-based and graph optimization-based. The former is often difficult to guarantee consistency and accuracy in largescale environment mapping because of the accumulative error during incremental mapping. Graph optimization-based SLAM method often assume predetermined landmarks, which is difficult to be got in unknown environment mapping. And there most likely has large difference between the optimize result and the real data, because the constraints are too few. This paper designed a kind of sub-map method, which could map more accurately without predetermined landmarks and avoid the already-drawn map impact on agent’s location. The tree structure of sub-map can be indexed quickly and reduce the amount of memory consuming when mapping. The algorithm combined Bayes-based and graph optimization-based SLAM algorithm. It created virtual landmarks automatically by associating data of sub-maps for graph optimization. Then graph optimization guaranteed consistency and accuracy in large-scale environment mapping and improved the reasonability and reliability of the optimize results. Experimental results are presented with a laser sensor (UTM 30LX) in official buildings and shopping centres, which prove that the proposed algorithm can obtain 2D maps within 10cm precision in indoor environment range from several hundreds to 12000 square meter.

scholarly journals Multi-GPU approach to global induction of classification trees for large-scale data mining

2021 ◽  
Author(s):  
Krzysztof Jurczuk ◽  
Marcin Czajkowski ◽  
Marek Kretowski
Keyword(s):  
Data Mining ◽  
Large Scale ◽  
Real Life ◽  
Population Based ◽  
Tree Structure ◽  
Global Approach ◽  
Data Parallel ◽  
Large Scale Data ◽  
The Impact ◽  
Scale Data

AbstractThis paper concerns the evolutionary induction of decision trees (DT) for large-scale data. Such a global approach is one of the alternatives to the top-down inducers. It searches for the tree structure and tests simultaneously and thus gives improvements in the prediction and size of resulting classifiers in many situations. However, it is the population-based and iterative approach that can be too computationally demanding to apply for big data mining directly. The paper demonstrates that this barrier can be overcome by smart distributed/parallel processing. Moreover, we ask the question whether the global approach can truly compete with the greedy systems for large-scale data. For this purpose, we propose a novel multi-GPU approach. It incorporates the knowledge of global DT induction and evolutionary algorithm parallelization together with efficient utilization of memory and computing GPU’s resources. The searches for the tree structure and tests are performed simultaneously on a CPU, while the fitness calculations are delegated to GPUs. Data-parallel decomposition strategy and CUDA framework are applied. Experimental validation is performed on both artificial and real-life datasets. In both cases, the obtained acceleration is very satisfactory. The solution is able to process even billions of instances in a few hours on a single workstation equipped with 4 GPUs. The impact of data characteristics (size and dimension) on convergence and speedup of the evolutionary search is also shown. When the number of GPUs grows, nearly linear scalability is observed what suggests that data size boundaries for evolutionary DT mining are fading.

scholarly journals RTLIO: Real-Time LiDAR-Inertial Odometry and Mapping for UAVs

Sensors ◽  
2021 ◽  
Vol 21 (12) ◽  
pp. 3955
Author(s):  
Jung-Cheng Yang ◽  
Chun-Jung Lin ◽  
Bing-Yuan You ◽  
Yin-Long Yan ◽  
Teng-Hu Cheng
Keyword(s):  
Feedback Control ◽  
Real Time ◽  
High Frequency ◽  
Indoor Environment ◽  
Indoor Localization ◽  
Sampling Rate ◽  
Outdoor Environment ◽  
Position Accuracy ◽  
Graph Optimization ◽  
Pose Graph Optimization

Most UAVs rely on GPS for localization in an outdoor environment. However, in GPS-denied environment, other sources of localization are required for UAVs to conduct feedback control and navigation. LiDAR has been used for indoor localization, but the sampling rate is usually too low for feedback control of UAVs. To compensate this drawback, IMU sensors are usually fused to generate high-frequency odometry, with only few extra computation resources. To achieve this goal, a real-time LiDAR inertial odometer system (RTLIO) is developed in this work to generate high-precision and high-frequency odometry for the feedback control of UAVs in an indoor environment, and this is achieved by solving cost functions that consist of the LiDAR and IMU residuals. Compared to the traditional LIO approach, the initialization process of the developed RTLIO can be achieved, even when the device is stationary. To further reduce the accumulated pose errors, loop closure and pose-graph optimization are also developed in RTLIO. To demonstrate the efficacy of the developed RTLIO, experiments with long-range trajectory are conducted, and the results indicate that the RTLIO can outperform LIO with a smaller drift. Experiments with odometry benchmark dataset (i.e., KITTI) are also conducted to compare the performance with other methods, and the results show that the RTLIO can outperform ALOAM and LOAM in terms of exhibiting a smaller time delay and greater position accuracy.

scholarly journals Constructing Large-Scale Genetic Maps Using an Evolutionary Strategy Algorithm

Genetics ◽  
2003 ◽  
Vol 165 (4) ◽  
pp. 2269-2282
Author(s):  
D Mester ◽  
Y Ronin ◽  
D Minkov ◽  
E Nevo ◽  
A Korol
Keyword(s):  
Discrete Optimization ◽  
High Performance ◽  
Large Scale ◽  
Simulated Data ◽  
Real Data ◽  
Genetic Maps ◽  
Chromosome 1 ◽  
Evolutionary Strategy ◽  
Group A ◽  
The One

Abstract This article is devoted to the problem of ordering in linkage groups with many dozens or even hundreds of markers. The ordering problem belongs to the field of discrete optimization on a set of all possible orders, amounting to n!/2 for n loci; hence it is considered an NP-hard problem. Several authors attempted to employ the methods developed in the well-known traveling salesman problem (TSP) for multilocus ordering, using the assumption that for a set of linked loci the true order will be the one that minimizes the total length of the linkage group. A novel, fast, and reliable algorithm developed for the TSP and based on evolution-strategy discrete optimization was applied in this study for multilocus ordering on the basis of pairwise recombination frequencies. The quality of derived maps under various complications (dominant vs. codominant markers, marker misclassification, negative and positive interference, and missing data) was analyzed using simulated data with ∼50-400 markers. High performance of the employed algorithm allows systematic treatment of the problem of verification of the obtained multilocus orders on the basis of computing-intensive bootstrap and/or jackknife approaches for detecting and removing questionable marker scores, thereby stabilizing the resulting maps. Parallel calculation technology can easily be adopted for further acceleration of the proposed algorithm. Real data analysis (on maize chromosome 1 with 230 markers) is provided to illustrate the proposed methodology.

scholarly journals Deep Learning Based Pavement Inspection Using Self-Reconfigurable Robot

Sensors ◽  
2021 ◽  
Vol 21 (8) ◽  
pp. 2595
Author(s):  
Balakrishnan Ramalingam ◽  
Abdullah Aamir Hayat ◽  
Mohan Rajesh Elara ◽  
Braulio Félix Gómez ◽  
Lim Yi ◽  
...  
Keyword(s):  
Deep Learning ◽  
Semantic Segmentation ◽  
High Accuracy ◽  
Experimental Results ◽  
Mobile Mapping ◽  
Mapping System ◽  
Mobile Mapping System ◽  
Reconfigurable Robot ◽  
Nvidia Gpu ◽  
Inspection Task

The pavement inspection task, which mainly includes crack and garbage detection, is essential and carried out frequently. The human-based or dedicated system approach for inspection can be easily carried out by integrating with the pavement sweeping machines. This work proposes a deep learning-based pavement inspection framework for self-reconfigurable robot named Panthera. Semantic segmentation framework SegNet was adopted to segment the pavement region from other objects. Deep Convolutional Neural Network (DCNN) based object detection is used to detect and localize pavement defects and garbage. Furthermore, Mobile Mapping System (MMS) was adopted for the geotagging of the defects. The proposed system was implemented and tested with the Panthera robot having NVIDIA GPU cards. The experimental results showed that the proposed technique identifies the pavement defects and litters or garbage detection with high accuracy. The experimental results on the crack and garbage detection are presented. It is found that the proposed technique is suitable for deployment in real-time for garbage detection and, eventually, sweeping or cleaning tasks.

Computational fluid dynamics of rectangular external loop airlift reactor

2020 ◽  
Vol 18 (5-6) ◽  
Author(s):  
Shivanand M. Teli ◽  
Channamallikarjun S. Mathpati
Keyword(s):  
Large Scale ◽  
Lift Coefficient ◽  
Volume Ratio ◽  
Reynolds Stress Model ◽  
Airlift Reactor ◽  
Experimental Results ◽  
Turbulent Dispersion ◽  
Drag Forces ◽  
External Loop ◽  
Turbulent Models

AbstractThe novel design of a rectangular external loop airlift reactor is at present the most used large-scale reactor for microalgae culture. It has a unique future for a large surface to volume ratio for exposure of light radiation for photosynthesis reaction. The 3D simulations have been performed in rectangular EL-ALR. The Eulerian–Eulerian approach has been used with a dispersed gas phase for different turbulent models. The performance and applicability of different turbulent model’s i.e., K-epsilon standard, K-epsilon realizable, K-omega, and Reynolds stress model are used and compared with experimental results. All drag forces and non-drag forces (turbulent dispersion, virtual mass, and lift coefficient) are included in the model. The experimental values of overall gas hold-up and average liquid circulation velocity have been compared with simulation and literature results. It is seemed to give good agreements. For the different elevations in the downcomer section, liquid axial velocity, turbulent kinetic energy, and turbulent eddy dissipation experimental have been compared with different turbulent models. The K-epsilon Realizable model gives better prediction with experimental results.

scholarly journals Evaluation of recent advances in recommender systems on Arabic content

2021 ◽  
Vol 8 (1) ◽  
Author(s):  
Mehdi Srifi ◽  
Ahmed Oussous ◽  
Ayoub Ait Lahcen ◽  
Salma Mouline
Keyword(s):  
Recommender Systems ◽  
High Performance ◽  
Large Scale ◽  
State Of The Art ◽  
Experimental Results ◽  
Recent Advances ◽  
Research Gap ◽  
Text Preprocessing

AbstractVarious recommender systems (RSs) have been developed over recent years, and many of them have concentrated on English content. Thus, the majority of RSs from the literature were compared on English content. However, the research investigations about RSs when using contents in other languages such as Arabic are minimal. The researchers still neglect the field of Arabic RSs. Therefore, we aim through this study to fill this research gap by leveraging the benefit of recent advances in the English RSs field. Our main goal is to investigate recent RSs in an Arabic context. For that, we firstly selected five state-of-the-art RSs devoted originally to English content, and then we empirically evaluated their performance on Arabic content. As a result of this work, we first build four publicly available large-scale Arabic datasets for recommendation purposes. Second, various text preprocessing techniques have been provided for preparing the constructed datasets. Third, our investigation derived well-argued conclusions about the usage of modern RSs in the Arabic context. The experimental results proved that these systems ensure high performance when applied to Arabic content.

scholarly journals Meta-Descent for Online, Continual Prediction

2019 ◽  
Vol 33 ◽  
pp. 3943-3950
Author(s):  
Andrew Jacobsen ◽  
Matthew Schlegel ◽  
Cameron Linke ◽  
Thomas Degris ◽  
Adam White ◽  
...  
Keyword(s):  
Gradient Descent ◽  
Large Scale ◽  
Time Series Prediction ◽  
Real Data ◽  
Second Order ◽  
Stochastic Gradient Descent ◽  
Step Size ◽  
Vector Approximation ◽  
Prediction Problems ◽  
Stationary Problems

This paper investigates different vector step-size adaptation approaches for non-stationary online, continual prediction problems. Vanilla stochastic gradient descent can be considerably improved by scaling the update with a vector of appropriately chosen step-sizes. Many methods, including AdaGrad, RMSProp, and AMSGrad, keep statistics about the learning process to approximate a second order update—a vector approximation of the inverse Hessian. Another family of approaches use meta-gradient descent to adapt the stepsize parameters to minimize prediction error. These metadescent strategies are promising for non-stationary problems, but have not been as extensively explored as quasi-second order methods. We first derive a general, incremental metadescent algorithm, called AdaGain, designed to be applicable to a much broader range of algorithms, including those with semi-gradient updates or even those with accelerations, such as RMSProp. We provide an empirical comparison of methods from both families. We conclude that methods from both families can perform well, but in non-stationary prediction problems the meta-descent methods exhibit advantages. Our method is particularly robust across several prediction problems, and is competitive with the state-of-the-art method on a large-scale, time-series prediction problem on real data from a mobile robot.

Local Graph Edge Partitioning

2021 ◽  
Vol 12 (5) ◽  
pp. 1-25
Author(s):  
Shengwei Ji ◽  
Chenyang Bu ◽  
Lei Li ◽  
Xindong Wu
Keyword(s):  
Real World ◽  
Graph Partitioning ◽  
Large Scale ◽  
Complete Information ◽  
Local Information ◽  
Experimental Results ◽  
Two Stage ◽  
Graph Computation ◽  
Local Graph ◽  
Edge Partitioning

Graph edge partitioning, which is essential for the efficiency of distributed graph computation systems, divides a graph into several balanced partitions within a given size to minimize the number of vertices to be cut. Existing graph partitioning models can be classified into two categories: offline and streaming graph partitioning models. The former requires global graph information during the partitioning, which is expensive in terms of time and memory for large-scale graphs. The latter creates partitions based solely on the received graph information. However, the streaming model may result in a lower partitioning quality compared with the offline model. Therefore, this study introduces a Local Graph Edge Partitioning model, which considers only the local information (i.e., a portion of a graph instead of the entire graph) during the partitioning. Considering only the local graph information is meaningful because acquiring complete information for large-scale graphs is expensive. Based on the Local Graph Edge Partitioning model, two local graph edge partitioning algorithms—Two-stage Local Partitioning and Adaptive Local Partitioning—are given. Experimental results obtained on 14 real-world graphs demonstrate that the proposed algorithms outperform rival algorithms in most tested cases. Furthermore, the proposed algorithms are proven to significantly improve the efficiency of the real graph computation system GraphX.

scholarly journals Self-Adaptive K-Means Based on a Covering Algorithm

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-16 ◽  
Author(s):  
Yiwen Zhang ◽  
Yuanyuan Zhou ◽  
Xing Guo ◽  
Jintao Wu ◽  
Qiang He ◽  
...  
Keyword(s):  
Large Scale ◽  
Clustering Algorithm ◽  
Real Data ◽  
Second Phase ◽  
Data Sets ◽  
Number Of Clusters ◽  
Large Scale Data ◽  
Long Time ◽  
Two Phases ◽  
Selection Of

The K-means algorithm is one of the ten classic algorithms in the area of data mining and has been studied by researchers in numerous fields for a long time. However, the value of the clustering number k in the K-means algorithm is not always easy to be determined, and the selection of the initial centers is vulnerable to outliers. This paper proposes an improved K-means clustering algorithm called the covering K-means algorithm (C-K-means). The C-K-means algorithm can not only acquire efficient and accurate clustering results but also self-adaptively provide a reasonable numbers of clusters based on the data features. It includes two phases: the initialization of the covering algorithm (CA) and the Lloyd iteration of the K-means. The first phase executes the CA. CA self-organizes and recognizes the number of clusters k based on the similarities in the data, and it requires neither the number of clusters to be prespecified nor the initial centers to be manually selected. Therefore, it has a “blind” feature, that is, k is not preselected. The second phase performs the Lloyd iteration based on the results of the first phase. The C-K-means algorithm combines the advantages of CA and K-means. Experiments are carried out on the Spark platform, and the results verify the good scalability of the C-K-means algorithm. This algorithm can effectively solve the problem of large-scale data clustering. Extensive experiments on real data sets show that the accuracy and efficiency of the C-K-means algorithm outperforms the existing algorithms under both sequential and parallel conditions.

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